Planematch: patch coplanarity prediction for robust RGB-D reconstruction

Yifei Shi, Kai Xu, Matthias Nießner, Szymon Rusinkiewicz, Thomas Funkhouser

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

We introduce a novel RGB-D patch descriptor designed for detecting coplanar surfaces in SLAM reconstruction. The core of our method is a deep convolutional neural network that takes in RGB, depth, and normal information of a planar patch in an image and outputs a descriptor that can be used to find coplanar patches from other images. We train the network on 10 million triplets of coplanar and non-coplanar patches, and evaluate on a new coplanarity benchmark created from commodity RGB-D scans. Experiments show that our learned descriptor outperforms alternatives extended for this new task by a significant margin. In addition, we demonstrate the benefits of coplanarity matching in a robust RGBD reconstruction formulation. We find that coplanarity constraints detected with our method are sufficient to get reconstruction results comparable to state-of-the-art frameworks on most scenes, but outperform other methods on established benchmarks when combined with traditional keypoint matching.

Original languageEnglish (US)
Title of host publicationComputer Vision – ECCV 2018 - 15th European Conference, 2018, Proceedings
EditorsVittorio Ferrari, Cristian Sminchisescu, Yair Weiss, Martial Hebert
PublisherSpringer Verlag
Pages767-784
Number of pages18
ISBN (Print)9783030012366
DOIs
StatePublished - 2018
Event15th European Conference on Computer Vision, ECCV 2018 - Munich, Germany
Duration: Sep 8 2018Sep 14 2018

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume11212 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other15th European Conference on Computer Vision, ECCV 2018
CountryGermany
CityMunich
Period9/8/189/14/18

All Science Journal Classification (ASJC) codes

  • Theoretical Computer Science
  • Computer Science(all)

Keywords

  • Co-planarity
  • Loop closure
  • RGB-D registration

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